version: 66.11
revision: 1138
glider: 542
mission: 14
dive: 581
start: 11 15 116 6 30 44
data:
$ID,542
$MISSION,14
$DIVE,581
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,353
$T_MISSION,395
$T_ABORT,720
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53288
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$NOCOMM_ACTION,3
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-42326.539
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3947
$C_PITCH,2573
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,182
$ROLL_MAX,3808
$ROLL_DEG,40
$C_ROLL_DIVE,1955
$C_ROLL_CLIMB,1887
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2683
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,95
$MINV_24V,19
$MINV_10V,8.1999998
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-177.17088
$PRESSURE_SLOPE,0.00013904
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,134
$DEVICE3,147
$DEVICE4,101
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042912085
$SEABIRD_T_H,0.00061951543
$SEABIRD_T_I,2.2019161e-05
$SEABIRD_T_J,2.2998063e-06
$SEABIRD_C_G,-9.7531137
$SEABIRD_C_H,1.1333146
$SEABIRD_C_I,-0.00071571622
$SEABIRD_C_J,0.00011341914
$GPS1,151116,062229,-4304.863,830.661,52,0.9,52,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-76.1
$GPS2,151116,062958,-4304.786,830.764,17,1.3,17,-25.1
$SPEED_LIMITS,0.259,0.269
$TGT_NAME,SOUTH
$TGT_LATLONG,-4305.930,830.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,221.2,2357,-17.1,-9.443,-20.00,2451
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.57,-97.3,164,1962,1909,1802,0.0,0.0,0,67,0.00,0.00,-46.53,0.000,16390,0.000,0.000,165,1963,3081,3149,3013,0,0,0,0,0,0,28.83,28.83,26.48
$GC,71,-0.57,-97.3,165,1963,3149,3013,3.5,-5.9,8,85,8.90,2.28,0.00,0.000,2308,0.223,0.041,2372,3375,3082,3152,3013,0,0,0,0,0,0,24.75,25.81,28.83
$GC,216,-0.57,-97.3,1416,3375,3133,3009,26.3,-11.2,35,223,0.00,2.25,0.00,0.000,1030,0.000,0.040,2372,1939,3085,3157,3013,0,0,0,0,0,0,28.83,25.85,28.83
$GC,347,-0.57,-97.3,1424,1937,3133,3009,41.3,-11.2,60,354,0.00,2.25,0.00,0.000,516,0.000,0.051,2372,525,3085,3158,3013,0,0,0,0,0,0,28.83,25.72,28.83
$GC,378,-0.57,-97.3,2372,525,3158,3013,44.8,-11.5,65,384,0.00,2.22,0.00,0.000,1030,0.000,0.041,2362,1967,3085,3158,3013,0,0,0,0,0,0,28.83,25.89,28.83
$GC,691,-0.57,-97.3,2362,1968,3158,3013,80.8,-11.0,126,698,0.00,2.20,0.00,0.000,260,0.000,0.047,2351,3375,3085,3158,3013,0,0,0,0,0,0,28.83,25.85,28.83
$GC,786,-0.57,-97.3,2351,3375,3158,3013,91.6,-10.7,144,794,0.12,2.25,0.00,0.000,3078,0.161,0.039,2382,1940,3085,3158,3013,0,0,0,0,0,0,25.63,25.91,28.83
$GC,1099,-0.57,-97.3,2382,1939,3160,3013,121.3,-9.4,183,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1939,3086,3160,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1409,-0.57,-97.3,2382,1939,3160,3013,150.8,-9.5,214,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1939,3087,3161,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1719,-0.57,-97.3,2382,1939,3161,3013,181.1,-9.7,245,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1940,3087,3161,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2029,-0.57,-97.3,2382,1939,3162,3013,212.3,-10.3,276,2039,0.00,2.20,0.00,0.000,516,0.000,0.052,2382,548,3087,3161,3013,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2104,-0.57,-97.3,2382,548,3161,3013,220.2,-10.4,283,2113,0.00,2.15,0.00,0.000,1030,0.000,0.041,2374,1957,3087,3162,3013,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2412,-0.57,-97.3,2374,1957,3161,3013,254.6,-11.2,314,2422,0.00,2.20,0.00,0.000,260,0.000,0.047,2364,3372,3086,3161,3012,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2455,-0.57,-97.3,2363,3372,3162,3013,259.5,-11.4,318,2465,0.00,2.20,0.00,0.000,1030,0.000,0.039,2364,1949,3087,3161,3013,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2766,-0.57,-97.3,2363,1949,3161,3013,295.0,-11.4,349,2774,0.00,2.22,0.00,0.000,516,0.000,0.051,2364,540,3087,3161,3013,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2808,-0.57,-97.3,2363,540,3161,3013,299.8,-11.6,353,2818,0.12,2.20,0.00,0.000,3078,0.168,0.040,2384,1966,3087,3161,3013,0,0,0,0,0,0,25.63,25.95,28.83
$GC,3120,-0.57,-97.3,2384,1967,3161,3013,329.0,-8.9,384,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1966,3086,3161,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3431,-0.57,-97.3,2384,1967,3161,3013,356.8,-8.8,415,3440,0.00,2.15,0.00,0.000,260,0.000,0.047,2375,3365,3087,3162,3012,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3466,-0.57,-97.3,2374,3365,3161,3013,360.0,-8.8,418,3474,0.00,2.22,0.00,0.000,1030,0.000,0.039,2375,1959,3087,3161,3013,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3774,-0.57,-97.3,2374,1959,3161,3013,388.3,-9.1,449,3778,0.00,2.28,0.00,0.000,516,0.000,0.052,2374,537,3087,3161,3013,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3799,-0.57,-97.3,2375,537,3161,3013,390.4,-9.4,451,3805,0.00,2.17,0.00,0.000,1030,0.000,0.041,2364,1956,3087,3161,3013,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4116,-0.57,-97.3,2364,1957,3162,3013,422.5,-10.3,472,4122,0.00,2.20,0.00,0.000,260,0.000,0.047,2354,3369,3087,3161,3013,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4236,-0.57,-97.3,2354,3368,3161,3013,435.2,-10.6,478,4242,0.12,2.20,0.00,0.000,3078,0.152,0.040,2385,1954,3087,3161,3013,0,0,0,0,0,0,25.66,25.93,28.83
$GC,4559,-0.57,-97.3,2385,1953,3161,3012,465.0,-9.2,494,4564,0.00,2.22,0.00,0.000,516,0.000,0.054,2385,554,3087,3162,3012,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4605,-0.57,-97.3,2385,554,3161,3012,469.4,-10.1,496,4609,0.00,2.15,0.00,0.000,1030,0.000,0.041,2376,1957,3086,3161,3012,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4913,-0.57,-97.3,2376,1957,3161,3012,500.0,-10.1,511,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1957,3086,3161,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5212,-0.57,-97.3,2376,1957,3161,3012,528.5,-9.6,526,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1957,3086,3161,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5512,-0.57,-97.3,2376,1957,3161,3012,558.1,-10.1,541,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1957,3086,3161,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5813,-0.57,-97.3,2376,1957,3161,3012,588.7,-10.1,556,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1957,3086,3161,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6112,-0.57,-97.3,2376,1957,3161,3013,619.4,-10.2,571,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1957,3086,3161,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6412,-0.57,-97.3,2376,1957,3162,3012,650.3,-10.0,586,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1957,3086,3161,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6713,-0.57,-97.3,2376,1957,3161,3011,679.1,-9.7,601,6718,0.00,2.20,0.00,0.000,260,0.000,0.050,2366,3361,3086,3161,3011,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6820,-0.57,-97.3,2365,3361,3161,3010,688.8,-9.6,606,6824,0.00,2.22,0.00,0.000,1030,0.000,0.041,2365,1948,3085,3161,3010,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7128,-0.57,-97.3,2365,1947,3161,3009,720.5,-10.1,621,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1948,3085,3161,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7428,-0.57,-97.3,2365,1948,3161,3007,750.6,-9.9,636,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1948,3084,3161,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7727,-0.57,-97.3,2365,1948,3161,3006,780.2,-9.8,651,7733,0.00,2.28,0.00,0.000,516,0.000,0.057,2366,540,3084,3162,3006,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7770,-0.57,-97.3,2365,539,3162,3006,784.3,-10.0,653,7775,0.12,2.20,0.00,0.000,3078,0.165,0.044,2386,1952,3083,3161,3006,0,0,0,0,0,0,25.58,25.88,28.83
$GC,8085,-0.57,-97.3,2386,1952,3161,3005,810.0,-7.9,669,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1952,3083,3161,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8384,-0.57,-97.3,2386,1952,3161,3005,833.4,-7.8,684,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1952,3083,3161,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8684,-0.57,-97.3,2386,1952,3161,3005,856.7,-7.8,699,8690,0.00,2.20,0.00,0.000,260,0.000,0.050,2377,3360,3083,3161,3005,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8724,-0.57,-97.3,2377,3360,3161,3005,859.9,-7.9,701,8729,0.00,2.20,0.00,0.000,1030,0.000,0.042,2377,1955,3083,3161,3005,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9044,-0.57,-97.3,2377,1955,3161,3004,888.0,-9.2,717,9050,0.00,2.25,0.00,0.000,516,0.000,0.057,2377,548,3082,3161,3004,0,0,0,0,0,0,28.83,25.62,28.83
$GC,9126,-0.57,-97.3,1536,548,3143,3000,895.9,-9.8,721,9130,0.00,2.20,0.00,0.000,1030,0.000,0.045,2367,1954,3082,3161,3004,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9439,-0.57,-97.3,2367,1954,3161,3003,927.1,-10.1,737,9444,0.00,2.22,0.00,0.000,260,0.000,0.052,2356,3372,3082,3161,3003,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9501,-0.57,-97.3,1504,3371,3142,3000,933.3,-10.3,740,9506,0.12,2.22,0.00,0.000,3078,0.155,0.043,2387,1956,3082,3161,3003,0,0,0,0,0,0,25.56,25.82,28.83
$GC,9815,-0.57,-97.3,2387,1956,3161,3003,960.4,-8.3,756,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1955,3082,3161,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10114,-0.57,-97.3,2387,1955,3161,3002,984.8,-8.0,771,10120,0.00,2.25,0.00,0.000,516,0.000,0.058,2387,551,3081,3161,3002,0,0,0,0,0,0,28.83,25.59,28.83
$GC,10154,-0.57,-97.3,2387,551,3162,3002,988.2,-8.2,773,10160,0.00,2.20,0.00,0.000,1030,0.000,0.045,2379,1960,3081,3161,3002,0,0,0,0,0,0,28.83,25.81,28.83
$STATE,10311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10311,begin apogee
$GC,10318,-0.14,0.0,2378,1882,3161,3002,1001.6,-8.4,781,10416,0.47,0.00,94.82,1.946,10246,0.135,0.000,2523,1882,2683,2758,2608,0,0,0,0,0,0,25.26,28.83,21.77
$STATE,10417,end apogee,CONTROL_FINISHED_OK
$STATE,10417,begin climb
$GC,10420,0.57,97.3,2523,1882,2759,2607,1005.0,0.0,786,10534,0.68,2.65,101.03,1.784,10756,0.080,0.060,2762,486,2285,2356,2215,0,0,0,0,0,0,24.03,23.09,21.06
$GC,10563,0.68,203.6,2762,485,2352,2214,1000.7,5.0,793,10691,0.00,2.40,115.95,1.750,9222,0.000,0.044,2762,1893,1851,1922,1781,0,0,0,0,1,0,28.83,23.97,21.11
$GC,11002,0.68,203.6,2762,1894,1918,1768,953.3,11.3,815,11007,0.00,2.22,0.00,0.000,260,0.000,0.053,2762,3298,1843,1918,1768,0,0,0,0,0,0,28.83,25.73,28.83
$GC,11041,0.68,203.6,2762,3298,1916,1767,948.6,11.4,817,11046,0.00,2.25,0.00,0.000,1030,0.000,0.047,2773,1889,1841,1916,1767,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11361,0.68,203.6,2772,1889,1916,1765,911.1,11.8,833,11366,0.00,2.30,0.00,0.000,516,0.000,0.063,2783,475,1840,1916,1765,0,0,0,0,0,0,28.83,25.83,28.83
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$STATE,19165,end climb,SURFACE_DEPTH_REACHED
$STATE,19165,begin surface coast
$FINISH,0.5,1.026519
$STATE,19187,end surface coast,CONTROL_FINISHED_OK
$STATE,19187,begin surface
$SM_CCo,19266,0.00,0.000,0,0,1819,211.94
$SM_GC,1.44,6.88,2.38,0.00,0.037,0.044,0.000,161,1949,1819,-7.41,-0.88,211.94,0,0,0,0,0,0,26.09,25.86,28.83
$IRIDIUM_FIX,-4247.91,829.08,110909,141400
$TT8_MAMPS,0.021721,0.021721
$HUMID,62.36
$INTERNAL_PRESSURE,9.3848
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,21.1,90.300
$10V_AH,9.7,60.780
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.200,165.875,314.575,0.000,0.000,23.859,18.205,262.249,0.000,0.000,18.288,3859.386,11671.401,501.646,3269.466,416.730,0.000,1935.674,0.000,2770.411,0.000,1.009,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1080.036,322.376,1015.698,466.004,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,43.440,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353100
$DATA_FILE_SIZE,100524,1500
$CAP_FILE_SIZE,187445,0
$CFSIZE,259252224,211599360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.166, 17.7,1
$GPS,151116,115303,-4305.336,830.557,36,0.8,36,-25.1